全球导向的双臂反应动作控制器,用于在狭窄的家庭环境中协调自动交付
Zihang Geng1, Zhiyuan Yang1, Wei Xu1
1State Key Laboratory of Mechanical System and Vibration, School of Mechanical Engineering, Shanghai Jiao Tong University, Shanghai 200240, China.
Biomimetics (Basel, Switzerland)
|October 25, 2024
概括
未来的人形机器人需要先进的运动控制. 一个全新的全球导向双臂反应运动控制器 (GGDRC) 改善了在复杂环境中避免碰撞和任务成功.
科学领域:
- 机器人技术 机器人技术 机器人技术
- 人工智能的人工智能
- 人与机器人的交互
背景情况:
- 人形机器人越来越多地融入日常生活.
- 在非结构化,以人为中心的环境中,合作双臂运动规划仍然是一个重大挑战.
- 现有的方法在实时避免碰撞和在狭窄空间中协调任务方面扎.
研究的目的:
- 为双臂人形机器人提出一种新的运动控制器.
- 在非结构化环境中增强灵巧和合作能力.
- 为了解决当前运动规划和控制策略的局限性.
主要方法:
- 开发了一种全球导向的双臂反应动作控制器 (GGDRC).
- 集成了一个用于卡特西安空间指导的全球规划器和一个用于实时调整的本地反应控制器.
- 利用双臂冗余来避免碰撞和协调任务执行.
- 设计了一个用于绩效评估的选择-交付-放置任务.
主要成果:
- GGDRC以5毫米的精度实现了准确的避免碰撞.
- 控制器在选择-交付-放置任务中表现出84.5%的高成功率.
- 在动作受限制的动态场景中,GGDRC的表现优于现有的基于优化的反应方法.
结论:
- 拟议的GGDRC有效地结合了双臂机器人的全球规划和反应控制.
- 这一框架在复杂,以人为中心的环境中提高了性能,需要合作.
- GGDRC代表了人形机器人运动控制的重大进步.
相关概念视频
One-Degree-of-Freedom System
465
In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
A one-degree-of-freedom system is defined by an independent variable that determines its state and behavior. One example of a one-degree-of-freedom system is a simple harmonic oscillator, such as a...
465
Controller Configurations
87
Controller configurations are crucial in a car's cruise control system because they manage speed over time to maintain a consistent pace regardless of road conditions, thereby meeting design goals. In traditional control systems, fixed-configuration design involves predetermined controller placement. System performance modifications are known as compensation.
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
Control-system compensation involves various configurations, most commonly series or cascade compensation, in which the controller...
87


